/*
 * Simbad - Robot Simulator Copyright (C) 2004 Louis Hugues
 * 
 * This program is free software; you can redistribute it and/or modify it under
 * the terms of the GNU General Public License as published by the Free Software
 * Foundation; either version 2 of the License, or (at your option) any later
 * version.
 * 
 * This program is distributed in the hope that it will be useful, but WITHOUT
 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
 * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
 * details.
 * 
 * You should have received a copy of the GNU General Public License along with
 * this program; if not, write to the Free Software Foundation, Inc., 59 Temple
 * Place, Suite 330, Boston, MA 02111-1307 USA
 * 
 * -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ $Date: 2005/08/07 12:24:56 $ $Revision: 1.7 $ 
 * $Source: /cvsroot/simbad/src/simbad/demo/LightSearchDemo.java,v $
 */
package simbad.demo;

import javax.vecmath.Vector3d;
import javax.vecmath.Vector3f;

import simbad.sim.Agent;
import simbad.sim.Arch;
import simbad.sim.Box;
import simbad.sim.LightSensor;
import simbad.sim.RobotFactory;
import simbad.sim.Wall;

/**
 * This demo shows how to capture the camera image , process it and display it
 * in dedicated window.
 * 
 */
public class LightSearchDemo extends Demo {

	class Robot extends Agent {
		LightSensor sensorLeft;
		LightSensor sensorRight;

		public Robot(Vector3d position, String name) {
			super(position, name);
			sensorLeft = RobotFactory.addLightSensorLeft(this);
			sensorRight = RobotFactory.addLightSensorRight(this);
		}

		/** Initialize Agent's Behavior */
		@Override
		public void initBehavior() {
		}

		/** Perform one step of Agent's Behavior */
		@Override
		public void performBehavior() {

			// progress at 0.5 m/s
			setTranslationalVelocity(0.5);
			// turn towards light
			float llum = sensorLeft.getAverageLuminance();
			float rlum = sensorRight.getAverageLuminance();
			// setRotationalVelocity((llum - rlum) * Math.PI);
			setRotationalVelocity((llum - rlum) * Math.PI / 4);
			if (collisionDetected())
				moveToStartPosition();
		}
	}

	public LightSearchDemo() {
		light1IsOn = true;
		light1SetPosition(6, .7f, 5);
		light2IsOn = false;
		ambientLightColor = darkgray;
		light1Color = white;
		light2Color = white;
		wallColor = blue;
		archColor = green;
		boxColor = red;
		floorColor = white;
		backgroundColor = black;
		hasAxis = true;
		Wall w1 = new Wall(new Vector3d(9, 0, 0), 19, 1, this);
		w1.rotate90(1);
		add(w1);
		Wall w2 = new Wall(new Vector3d(-9, 0, 0), 19, 2, this);
		w2.rotate90(1);
		add(w2);
		Wall w3 = new Wall(new Vector3d(0, 0, 9), 19, 1, this);
		add(w3);
		Wall w4 = new Wall(new Vector3d(0, 0, -9), 19, 2, this);
		add(w4);
		Box b1 = new Box(new Vector3d(-3, 0, -3), new Vector3f(1, 1, 2), this);
		add(b1);
		Arch a1 = new Arch(new Vector3d(3, 0, -3), this);
		add(a1);
		add(new Robot(new Vector3d(-3, 0, -5), "DemoRobot"));
		add(new Robot(new Vector3d(6, 0, -5), "DemoRobot"));
		add(new Robot(new Vector3d(-6, 0, -8), "DemoRobot"));
		add(new Robot(new Vector3d(-8, 0, -5), "DemoRobot"));
		add(new Robot(new Vector3d(-1, 0, -8), "DemoRobot"));
	}
}